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Benchmarks
Peg-in-hole insertion on USB-A peg-in-hole
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22
Success Rate (2 mm Clearance)
Teacher-R
16.8
18.15
19.5
20.85
May 12, 2026
Success Rate (2 mm Clearance)
Success Rate (3 mm Clearance)
Success Rate (4 mm Clearance)
Success Rate (5 mm Clearance)
Success Rate
Average Time (All Attempts) (s)
Average Time (Successful) (s)
Updated 2mo ago
Evaluation Results
Method
Method
Links
Success Rate (2 mm Clearance)
Success Rate (3 mm Clearance)
Success Rate (4 mm Clearance)
Success Rate (5 mm Clearance)
Success Rate
Average Time (All Attempts) (s)
Average Time (Successful) (s)
Teacher-R
search_stage=Algorithm...
2026.05
22
20
-
18
83.3
3.39
2.94
FORGE
2026.05
22
21
21
20
87.5
3.17
2.77
SI-Diff
2026.05
22
22
22
21
90.6
2.94
2.74
Teacher-D
search_stage=Algorithm...
2026.05
21
20
19
19
82.3
3.4
2.84
TacDiff
2026.05
17
9
5
2
34.3
4.38
1.3
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